From 2c0ce68acd031b67fdffaea3b2e50cca4f487633 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 4 Apr 2017 16:10:26 -0500
Subject: Full state mostly implemented.

STATESIZE 9 works just as it does for experiment04032017 tag. The
quaternion covariance is not being set correctly yet.
---
 src/body.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/body.h')

diff --git a/src/body.h b/src/body.h
index 97df1e9..23ed2ca 100644
--- a/src/body.h
+++ b/src/body.h
@@ -9,7 +9,6 @@
 //#define DOCLAMP
 #define MAXHEIGHT -1.5 /* Notion of max and min is reversed due to z pointing down */
 #define MINHEIGHT -0.3            /*  */
-#define STATESIZE 13
 
 
 using Eigen::Matrix;
@@ -32,6 +31,7 @@ class Body
 #if STATESIZE==13
         Matrix<double,STATESIZE,STATESIZE> F(const Vector3d &ang, double dt);
         Quaterniond qhat();
+        void qhat(const Quaterniond &q);
 #else
         Matrix<double,STATESIZE,STATESIZE> F(const Vector3d &ang, const Quaterniond &q, double dt);
 #endif
-- 
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